To further validate the effectiveness of our proposed Voxel-MAE, we evaluate the performance of Voxel-MAE on the large-scale Waymo. Table REF  shows that our method improves the popular 3D point cloud detection methods SECOND [1]}, CenterPoint [2]}, and PV-RCNN [3]} in terms of mAP and mAPH. The experimental results on the large-scale Waymo dataset further validate the great representative features obtained by our simple Voxel-MAE on various datasets. Results for SECOND [1]}, CenterPoint [2]}, and PV-RCNN [3]} are from OpenPCDet [7]}.
